CN106292717B - A kind of full-automatic information acquisition aircraft - Google Patents
A kind of full-automatic information acquisition aircraft Download PDFInfo
- Publication number
- CN106292717B CN106292717B CN201610672673.0A CN201610672673A CN106292717B CN 106292717 B CN106292717 B CN 106292717B CN 201610672673 A CN201610672673 A CN 201610672673A CN 106292717 B CN106292717 B CN 106292717B
- Authority
- CN
- China
- Prior art keywords
- module
- main body
- point
- coordinate
- full
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000012544 monitoring process Methods 0.000 claims abstract description 20
- 238000004891 communication Methods 0.000 claims abstract description 10
- 238000005516 engineering process Methods 0.000 claims abstract description 7
- 238000005259 measurement Methods 0.000 claims description 18
- 238000001514 detection method Methods 0.000 claims description 17
- 238000000034 method Methods 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 3
- 208000028257 Joubert syndrome with oculorenal defect Diseases 0.000 claims description 2
- 238000007689 inspection Methods 0.000 claims description 2
- 238000013507 mapping Methods 0.000 abstract description 21
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 239000011505 plaster Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a kind of full-automatic information acquisition aircraft, including main body and monitoring unit, the main body includes flight module, photographing module, self leveling module, GPS positioning module, horizontal limb, vertical circle, laser ranging module, wireless communication module, the flight module is for flying entire main body according to scheduled flight path, the photographing module is used to collect the image data of target, the self leveling module is used for the working condition of monitoring level scale and vertical circle, the GPS positioning module is for receiving satellite-signal to obtain the coordinate data of main body hovering point, the horizontal limb, vertical circle is used to angle locating for record acquisition unit.The present invention incorporates the measuring point function of the flight of unmanned plane, the precision positioning of GPS and total station, greatly reduces manual operation, and the degree of automation for improving field mapping will give the revolutionary progress of surveying and mapping technology once applying in production.
Description
Technical field
The present invention relates to technical field of mapping more particularly to a kind of full-automatic information acquisition aircraft.
Background technique
Digital mapping (Digital Surveying and Mapping, DSM) system is using computer and its software as core
The heart is acquired landform spatial data, inputs, Cheng Tu, drawing, output, management under the support of external input-output equipment
Mapping system.Main includes several steps: project make an on-the-spot survey and Technology design；Existing data collects and analyzes；Make
Industry foundation；Control measurement；Quick short steps measurement；Digital Mapping；It checks and checks and accepts；The filing of data.In traditional survey field, need
A large amount of labour is used, and mapping is affected by landform, sighting condition, the automatization level of mapping is low, artificial
Many of data acquisition repeated work, project cost is high, and working efficiency is low, and we have proposed a kind of full-automatic information to adopt thus
Collect aircraft, for solving the above problems.
Summary of the invention
Technical problems based on background technology, the invention proposes a kind of full-automatic information acquisition aircraft.
A kind of full-automatic information acquisition aircraft proposed by the present invention, including main body and monitoring unit, the main body
Including flight module, photographing module, self leveling module, GPS positioning module, horizontal limb, vertical circle, laser ranging mould
Block, wireless communication module, the flight module is for flying entire main body according to scheduled flight path, the camera shooting mould
Block is used to collect the image data of target, and the self leveling module is used for the work shape of monitoring level scale and vertical circle
State, the GPS positioning module for receiving satellite-signal to obtain the coordinate data of main body hovering point, the horizontal limb,
Vertical circle is used to angle locating for record acquisition unit, and calculates the coordinate of measured point, and laser ranging module is used to indicate
Tested point position and layout point position, and main body is obtained to the distance of target point, wireless communication module is used for transmission main body
Signal between monitoring unit, monitoring unit are used for the working condition of monitor collecting unit, and remotely control acquisition unit；
It chooses after coverage of survey area, monitoring unit is controlled and is programmed to the flight path of main body, and is monitored in real time,
First to the north to determining and correcting, main body starts to fly by scheduled flight path, and flying height is 2.5-3.5 meters, every
The position hovering for needing to set station measurement at one, by the coordinate north that has determined to next coordinate, determine main body
Direction and distance adjust the observed altitude of main body to 1.8-2 meters, and the side of 360 degree of detection ranges is used by photographing module
Method is observed, and is more than to leap to next point detection if limitation requires if distance, is analyzed by the data of detection, determine to need
The position of measurement point is wanted, and distance is measured using laser ranging module, passes through the data of recording level scale and vertical circle, meter
The coordinate of tested point is calculated, and monitoring unit is transferred to by wireless communication module, completes the information collection of a measurement point, weight
The multiple above process obtains the information collection of whole measurement points, and map making information.
Preferably, the north is to determining and amendment detailed process are as follows: takes off main body at spacious place, height of taking off exists
15-25 meters, the hovering of highly stable aft engine body moment obtains the coordinate of the first hovering point by GPS positioning module, main body to
Any direction is 200 meters mobile, and the coordinate of the second hovering point is obtained by GPS positioning module, records flight side by horizontal limb
To and azimuth between the first hovering point, the second hovering point determine coordinate north orientation, and configuration level scale, repeat above-mentioned mistake
Journey is checked and is corrected to coordinate north orientation.
Preferably, full figure inspection is carried out after the cartographic information is drawn, and carries out necessary detection repairing.
Preferably, the flight module is unmanned plane.
Preferably, the GPS positioning module obtains the position coordinates of main body by RTK and CORS technology.
The invention has the following advantages: solving the problems, such as that existing digital mapping needs intervisibility, unmanned plane of the present invention
It can fly, can go up to the air and carry out digital collection, it is unobscured；It solves existing digital mapping total station orientation, needs artificial
The problem of prism carrys out fallback is held, the present invention passes through moving direction automatic orientation；Solves present digital mapping first with selecting figure root
Point, then mapping base point is surveyed with RTK, then with total station the problem of mapping base point surveys quick short steps, the direct GPS positioning of the present invention sets station automatically,
Automatic measurement；Solve the problems, such as that present digital mapping quick short steps point measuring speed depends on that everybody runs to obtain muti-piece, the present invention direct 360
Degree scanning, automatic laser ranging；The present invention is combined togather control measurement, quick short steps measurement, drafting pattern, reduces artificial
Cost improves efficiency, improves the degree of automation of existing digital mapping, for the hair of full-automatic Digital Mapping Technology later
Exhibition provides a direction, and full-automatic information acquisition aircraft incorporates the flight of unmanned plane, the precision positioning of GPS and total station
Measuring point function, greatly reduce manual operation, improve field mapping the degree of automation, once apply in production, will
Give surveying and mapping technology revolutionary progress.
Detailed description of the invention
Fig. 1 is a kind of system block diagram of full-automatic information acquisition aircraft proposed by the present invention；
Fig. 2 is a kind of observation schematic diagram of full-automatic information acquisition aircraft proposed by the present invention.
Specific embodiment
Combined with specific embodiments below the present invention is made further to explain.
Referring to Fig.1-2, a kind of full-automatic information acquisition aircraft proposed by the present invention, including main body and monitoring unit,
The main body includes flight module, photographing module, self leveling module, GPS positioning module, horizontal limb, vertical circle, swashs
Ligh-ranging module, wireless communication module, the flight module is for flying entire main body according to scheduled flight path, institute
Photographing module is stated for collecting the image data of target, the self leveling module is for monitoring level scale and vertical circle
Working condition, the GPS positioning module is for receiving satellite-signal to obtain the coordinate data of main body hovering point, the level
Scale, vertical circle are used to angle locating for record acquisition unit, and calculate the coordinate of measured point, and laser ranging module is used for
It indicates tested point position and layout point position, and obtains main body to the distance of target point, wireless communication module is used for transmission master
Signal between body and monitoring unit, monitoring unit are used for the working condition of monitor collecting unit, and long-range to acquisition unit
Control；
It chooses after coverage of survey area, monitoring unit is controlled and is programmed to the flight path of main body, and is monitored in real time,
First to the north to determining and correcting, main body starts to fly by scheduled flight path, and flying height is 2.5-3.5 meters, every
The position hovering for needing to set station measurement at one, by the coordinate north that has determined to next coordinate, determine main body
Direction and distance adjust the observed altitude of main body to 1.8-2 meters, and the side of 360 degree of detection ranges is used by photographing module
Method is observed, and is more than to leap to next point detection if limitation requires if distance, is analyzed by the data of detection, determine to need
The position of measurement point is wanted, and distance is measured using laser ranging module, passes through the data of recording level scale and vertical circle, meter
The coordinate of tested point is calculated, and monitoring unit is transferred to by wireless communication module, completes the information collection of a measurement point, weight
The multiple above process obtains the information collection of whole measurement points, and map making information.
The north is to determining and amendment detailed process are as follows: take off main body at spacious place, height of taking off at 15-25 meters,
The hovering of highly stable aft engine body moment, obtains the coordinate of the first hovering point by GPS positioning module, and main body is to any direction
Mobile 200 meters, the coordinate of the second hovering point is obtained by GPS positioning module, and heading and the are recorded by horizontal limb
Azimuth between one hovering point, the second hovering point determines coordinate north orientation, and configuration level scale, repeats the above process to coordinate
North orientation is checked and is corrected.
For how to determine tested point, early period, we can be obtained around main body with manual intervention by photographing module
The case where, and indicating that main body is measured target point, the later period can come by ranging to the bigness scale distance of surrounding objects point
Determine that those are target points, sets station in the hovering of S point, flying height can be higher than wall 20cm, but be lower than eaves, and flying height can
To determine automatically, the point of A-I around can also be observed with manual intervention, mesh can be carried out with 5 degree of intervals (or bigger) first
Mark detection, sets 50 meters of detection range, if 50 meters are detected not yet, it is believed that and it is herein infinity, the position of infinity
The position of detection range is set and has, we carry out closely-spaced detection, such as 0.5 degree again, further determine that such as A, B, C, D, G, H
The exact position of point, and measures, target point this for E, F, I we can be straight according to the detection whether another item of consecutive points
Determine whether that there are target points on line, if it is present determining the position of point by closely-spaced detection, and measures, it is right
In the target point of measurement also in need on some straight lines, we can be come by patch reflection plaster or the method for doing extraordinary label
It allows main body to identify and measure, finally makes relief drawing.
The full-automatic information acquisition aircraft incorporates the measuring point of the flight of unmanned plane, the precision positioning of GPS and total station
Function greatly reduces manual operation, improves the degree of automation of field mapping, once it applies in production, it will be to mapping
The progress of technological revolution.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (5)
1. a kind of full-automatic information acquisition aircraft, which is characterized in that including main body and monitoring unit, the main body includes
Flight module, photographing module, self leveling module, GPS positioning module, horizontal limb, vertical circle, laser ranging module, nothing
Line communication module, the flight module for entire main body to fly according to scheduled flight path, use by the photographing module
In the image data for collecting target, the self leveling module is used for the working condition of monitoring level scale and vertical circle, institute
GPS positioning module is stated for receiving satellite-signal to obtain the coordinate data of main body hovering point, the horizontal limb, verticality
Disk is used to angle locating for record acquisition unit, and calculates the coordinate of measured point, and laser ranging module is used to indicate tested point
Position and layout point position, and main body is obtained to the distance of target point, wireless communication module is used for transmission main body and monitoring
Signal between unit, monitoring unit are used for the working condition of monitor collecting unit, and remotely control acquisition unit；
It chooses after coverage of survey area, monitoring unit is controlled and programmed to the flight path of main body, and is monitored in real time, first right
To determining and correcting, main body starts to fly by scheduled flight path in the north, and flying height is 2.5-3.5 meters, in everywhere
The position hovering for needing to set station measurement, by the coordinate north that has determined to next coordinate, determine the direction of main body
And distance, adjust the observed altitude of main body to 1.8-2 meters, and by photographing module using 360 degree of detection ranges method into
Row observation is more than to leap to next point detection if limitation requires if distance, is analyzed by the data of detection, judgement needs to survey
The position of point is measured, and is calculated using laser ranging module measurement distance by the data of recording level scale and vertical circle
The coordinate of tested point, and be transferred to monitoring unit by wireless communication module, completes the information collection of a measurement point, in repetition
Process is stated, the information collection of whole measurement points, and map making information are obtained.
2. a kind of full-automatic information acquisition aircraft according to claim 1, which is characterized in that it is described the north to determine and
Correct detailed process are as follows: it takes off main body at spacious place, height of taking off at 15-25 meter, hover by highly stable aft engine body moment,
The coordinate of the first hovering point is obtained by GPS positioning module, main body is 200 meters mobile to any direction, passes through GPS positioning module
The coordinate for obtaining the second hovering point is recorded between heading and the first hovering point, the second hovering point by horizontal limb
Azimuth determines coordinate north orientation, and configuration level scale, repeats the above process and coordinate north orientation is checked and corrected.
3. a kind of full-automatic information acquisition aircraft according to claim 1, which is characterized in that the cartographic information is drawn
After carry out full figure inspection, and carry out necessary detection and repair.
4. a kind of full-automatic information acquisition aircraft according to claim 1, which is characterized in that the flight module is nothing
It is man-machine.
5. a kind of full-automatic information acquisition aircraft according to claim 1, which is characterized in that the GPS positioning module
The position coordinates of main body are obtained by RTK and CORS technology.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610672673.0A CN106292717B (en) | 2016-08-16 | 2016-08-16 | A kind of full-automatic information acquisition aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610672673.0A CN106292717B (en) | 2016-08-16 | 2016-08-16 | A kind of full-automatic information acquisition aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106292717A CN106292717A (en) | 2017-01-04 |
| CN106292717B true CN106292717B (en) | 2019-03-29 |
Family
ID=57672120
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610672673.0A Expired - Fee Related CN106292717B (en) | 2016-08-16 | 2016-08-16 | A kind of full-automatic information acquisition aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106292717B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108050993B (en) * | 2017-11-02 | 2022-04-05 | 中国科学院地质与地球物理研究所 | Terrain three-dimensional modeling method and device for field operation area of ground electromagnetic instrument |
| CN108680143A (en) * | 2018-04-27 | 2018-10-19 | 南京拓威航空科技有限公司 | Object localization method, device based on long-distance ranging and unmanned plane |
| CN109991610A (en) * | 2019-04-23 | 2019-07-09 | 武昌理工学院 | It is a kind of for measuring the intelligent mapping system of the earth |
| CN112531554B (en) * | 2020-10-26 | 2022-04-29 | 国网浙江省电力有限公司杭州供电公司 | Precise hanging double-trolley system and method based on unmanned aerial vehicle |
| CN112484704B (en) * | 2020-11-19 | 2022-06-03 | 苏州极目机器人科技有限公司 | Rapid mapping method and device |
| CN117346735A (en) * | 2023-12-04 | 2024-01-05 | 北京空间飞行器总体设计部 | Planet surface surveying method and system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101763658A (en) * | 2009-12-14 | 2010-06-30 | 煤航(香港)有限公司 | Manufacturing method for full-factor real-tridimensional large scale numerical map |
| CN103938605A (en) * | 2014-04-29 | 2014-07-23 | 中交天津港湾工程研究院有限公司 | Large-area soft foundation and hydraulic structure automatic monitoring system |
| CN105783810A (en) * | 2016-04-15 | 2016-07-20 | 昆山数字城市信息技术有限公司 | Earthwork quantity measuring method based on UAV photographic technology |
-
2016
- 2016-08-16 CN CN201610672673.0A patent/CN106292717B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101763658A (en) * | 2009-12-14 | 2010-06-30 | 煤航(香港)有限公司 | Manufacturing method for full-factor real-tridimensional large scale numerical map |
| CN103938605A (en) * | 2014-04-29 | 2014-07-23 | 中交天津港湾工程研究院有限公司 | Large-area soft foundation and hydraulic structure automatic monitoring system |
| CN105783810A (en) * | 2016-04-15 | 2016-07-20 | 昆山数字城市信息技术有限公司 | Earthwork quantity measuring method based on UAV photographic technology |
Non-Patent Citations (2)
| Title |
|---|
| 《空地一体化快速成图关键技术研究与实现》;吴向阳;《中国博士学位论文全文数据库 信息科技辑》;20160815;全文 |
| 《集无人机影像、RTK（单基站CORS）及》;屈帅 等;《新媒体与信息科技》;20160708;第81-82页 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106292717A (en) | 2017-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106292717B (en) | A kind of full-automatic information acquisition aircraft | |
| KR100795396B1 (en) | Method for monitoring altered city using airborne laser surveying data and digital orthophoto | |
| CN108871266B (en) | Automatic settlement monitoring method based on intermediate method triangle elevation method | |
| CN106597416B (en) | A kind of error correcting method of the LiDAR data depth displacement of ground GPS auxiliary | |
| CN111444872B (en) | Method for measuring geomorphic parameters of Danxia | |
| CN105867404A (en) | Equipment and method for measuring earthwork through unmanned aerial vehicle | |
| CN102980510B (en) | A kind of laser light chi image assize device and tree survey method thereof | |
| CN109242918B (en) | Helicopter-borne binocular stereo vision calibration method | |
| CN110223386A (en) | A kind of digital terrain modeling method based on multi-source unmanned aerial vehicle remote sensing data fusion | |
| CN109556673A (en) | A kind of earthwork calculation amount method and system based on unmanned plane | |
| CN102749071A (en) | Method for monitoring soil erosion based on unmanned aerial vehicle aerial photography | |
| CN112197741B (en) | Unmanned aerial vehicle SLAM technology inclination angle measuring system based on extended Kalman filtering | |
| ES2200341T3 (en) | MEASUREMENT PROCEDURE USING LASER TECHNIQUE FOR THREE-DIMENSIONAL OBJECTS. | |
| CN102298793A (en) | Method for obtaining three-dimensional figure data of cultural relic | |
| CN104933223A (en) | Power transmission line channel digital surveying method | |
| CN112833861A (en) | Surveying and mapping method and surveying and mapping system based on oblique photography large-scale topographic map | |
| CN111189433A (en) | Karst peak forest landform parameter measuring method based on unmanned aerial vehicle aerial photography | |
| CN106969721A (en) | A kind of method for three-dimensional measurement and its measurement apparatus | |
| CN108681337A (en) | A kind of culvert or the special inspection unmanned plane of bridge and unmanned plane visiting method | |
| CN111256730A (en) | Earth mass balance correction calculation method for low-altitude oblique photogrammetry technology | |
| CN108592877A (en) | A kind of change size dome radius detection method | |
| Mirko et al. | Assessing the Impact of the Number of GCPS on the Accuracy of Photogrammetric Mapping from UAV Imagery | |
| CN112033389A (en) | Deformation settlement monitoring method under gully terrain condition | |
| CN110148218B (en) | Method for integrally optimizing large-batch airborne LiDAR point cloud data | |
| CN115962755A (en) | Earth and stone calculation method based on unmanned aerial vehicle oblique photography technology |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190314 Address after: 250013 56 Lishan Road, Ji'nan, Shandong Applicant after: SHANDONG INSTITUTE OF GEOPHYSICAL & GEOCHEMICAL EXPLORATION Address before: 250000 Lishan Road, Lixia District, Jinan City, Shandong Province, 56 Applicant before: Zhang Jingyu |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190329 Termination date: 20200816 |